RMTool: Recent Enhancements

Abstract

This paper presents the enhancements introduced in the second version of RMTool, an open-source Matlab-based interactive software for teaching mobile robotics in introductory courses. In the first version only navigation problem of one robot has been considered (the robot should avoid obstacles and reach a desired position). In the actual version, the toolbox introduces new algorithms to cope with modeling and path planning of multiple identical robots, where the final states of the robots and the regions visited along trajectories should satisfy Linear Temporal Logic (LTL) or Boolean-based formulas. The paper includes extensive simulation results performed in RMTool, pertained to multi-robot path planning based on an LTL or Boolean team specification.